10 min

Achieve accurate and stable inertial movement measurements with ICM-45605 and PIC18F86K22

Understand the device's movement in three-dimensional space

6DOF IMU 16 Click with Fusion for PIC v8

Published Jan 05, 2024

Click board™

6DOF IMU 16 Click

Development board

Fusion for PIC v8


NECTO Studio



Unlock advanced motion sensing to precisely track and interpret your device's movement in three-dimensional space for applications ranging from virtual reality to wearables and IoT devices



Hardware Overview

How does it work?

6DOF IMU 16 Click is based on the ICM-45605, an ultra-high-performance 6-axis MEMS IMU with the world's first BalancedGyro™ technology and the lowest power consumption from TDK InvenSense. The sensor combines a 3‑axis gyroscope and a 3‑axis accelerometer in a compact package. Thanks to the BalancedGyro™ technology, the gyroscope MEMS architecture, a supreme vibration rejection and temperature stability performance is achieved. It has a digital-output gyroscope angular rate with a programmable full-scale range of ±15.625, ±31.25, ±62.5, ±125, ±250, ±500, ±1000, and ±2000 degrees/sec. The accelerometer also has a digital output with a programmable full-scale range of ±2g, ±4g, ±8g, and ±16g. The ICM-45605's on-chip digital motion processor enables advanced motion algorithms and machine learning capability.

The sensors have a self-test, low noise power mode support, good sensitivity, and more. The ICM-45605 also includes the APEX motion features such as pedometer, tilt detection, raise to wake/sleep, tap detection, wake on motion, and more. In addition, there is also a FIFO buffer of up to 8KB, enabling the application MCU to read the data in bursts. 6DOF IMU 16 Click can use a standard 4-wire SPI serial interface to communicate with the host MCU supporting clock frequency of up to 24MHz. It can also use a standard 2-wire I2C supporting a maximum bus speed of 1MHz. The I2C address can be selected over the ADDR SEL jumper. The communication selection can be made over the COMM SEL jumpers. You can also choose between a single or dual interface over the Interface jumper. This allows

you to use an I2C interface as a host while using the SPI. The APEX hardware will interrupt the host MCU over two interrupt pins (I1 and I2) if an interrupt event occurs, such as tilt detection, tap, or whatever events are pre-programmed to those pins. At the bottom of the board, two LP CUT low-power jumpers allow you to use 6DOF IMU 16 Click in a true low-power mode or with a battery-powered device, such as our Clicker 2 series of development boards. This Click board™ can be operated only with a 3.3V logic voltage level. The board must perform appropriate logic voltage level conversion before using MCUs with different logic levels. Also, it comes equipped with a library containing functions and an example code that can be used as a reference for further development.

6DOF IMU 16 Click hardware overview image

Features overview

Development board

Fusion for PIC v8 is a development board specially designed for the needs of rapid development of embedded applications. It supports a wide range of microcontrollers, such as different PIC, dsPIC, PIC24, and PIC32 MCUs regardless of their number of pins, and a broad set of unique functions, such as the first-ever embedded debugger/programmer over WiFi. The development board is well organized and designed so that the end-user has all the necessary elements, such as switches, buttons, indicators, connectors, and others, in one place. Thanks to innovative manufacturing technology, Fusion for PIC v8 provides a fluid and immersive working experience, allowing access anywhere and under any

circumstances at any time. Each part of the Fusion for PIC v8 development board contains the components necessary for the most efficient operation of the same board. In addition to the advanced integrated CODEGRIP programmer/debugger module, which offers many valuable programming/debugging options and seamless integration with the Mikroe software environment, the board also includes a clean and regulated power supply module for the development board. It can use a wide range of external power sources, including a battery, an external 12V power supply, and a power source via the USB Type-C (USB-C) connector. Communication options such as USB-UART, USB

HOST/DEVICE, CAN (on the MCU card, if supported), and Ethernet are also included, including the well-established mikroBUS™ standard, a standardized socket for the MCU card (SiBRAIN standard), and two display options (graphical and character-based LCD). Fusion for PIC v8 is an integral part of the Mikroe ecosystem for rapid development. Natively supported by Mikroe software tools, it covers many aspects of prototyping and development thanks to a considerable number of different Click boards™ (over a thousand boards), the number of which is growing every day.

Fusion for PIC v8 horizontal image

Microcontroller Overview

MCU Card / MCU



8th Generation



MCU Memory (KB)


Silicon Vendor


Pin count


RAM (Bytes)


Used MCU Pins

mikroBUS™ mapper

Interrupt 1
SPI Select / ID COMM
SPI Clock
Power Supply
Interrupt 2
I2C Clock
I2C Data

Take a closer look


6DOF IMU 16 Click Schematic schematic

Step by step

Project assembly

Fusion for PIC v8 front image hardware assembly

Start by selecting your development board and Click board™. Begin with the Fusion for PIC v8 as your development board.

Fusion for PIC v8 front image hardware assembly
Buck 22 Click front image hardware assembly
SiBRAIN for PIC32MZ1024EFK144 front image hardware assembly
v8 SiBRAIN MB 1 - upright/background hardware assembly
Necto image step 2 hardware assembly
Necto image step 3 hardware assembly
Necto image step 4 hardware assembly
NECTO Compiler Selection Step Image hardware assembly
NECTO Output Selection Step Image hardware assembly
Necto image step 6 hardware assembly
Necto image step 7 hardware assembly
Necto image step 8 hardware assembly
Necto image step 9 hardware assembly
Necto image step 10 hardware assembly
Necto PreFlash Image hardware assembly

Track your results in real time

Application Output

After pressing the "FLASH" button on the left-side panel, it is necessary to open the UART terminal to display the achieved results. By clicking on the Tools icon in the right-hand panel, multiple different functions are displayed, among which is the UART Terminal. Click on the offered "UART Terminal" icon.

UART Application Output Step 1

Once the UART terminal is opened, the window takes on a new form. At the top of the tab are two buttons, one for adjusting the parameters of the UART terminal and the other for connecting the UART terminal. The tab's lower part is reserved for displaying the achieved results. Before connecting, the terminal has a Disconnected status, indicating that the terminal is not yet active. Before connecting, it is necessary to check the set parameters of the UART terminal. Click on the "OPTIONS" button.

UART Application Output Step 2

In the newly opened UART Terminal Options field, we check if the terminal settings are correct, such as the set port and the Baud rate of UART communication. If the data is not displayed properly, it is possible that the Baud rate value is not set correctly and needs to be adjusted to 115200. If all the parameters are set correctly, click on "CONFIGURE".

UART Application Output Step 3

The next step is to click on the "CONNECT" button, after which the terminal status changes from Disconnected to Connected in green, and the data is displayed in the Received data field.

UART Application Output Step 4

Software Support

Library Description

This library contains API for 6DOF IMU 16 Click driver.

Key functions:

  • c6dofimu16_sw_reset - This function performs the device software reset.

  • c6dofimu16_get_gyro_data - This function reads the angular rate of X, Y, and Z axis in degrees per second (mdps).

  • c6dofimu16_get_accel_data - This function reads the accelerometer of X, Y, and Z axis relative to standard gravity (mg).

Open Source

Code example

This example can be found in NECTO Studio. Feel free to download the code, or you can copy the code below.

 * @file main.c
 * @brief 6DOF IMU 16 Click example
 * # Description
 * This example demonstrates the use of 6DOF IMU 16 click board by reading and displaying 
 * the accelerometer and gyroscope data (X, Y, and Z axis).
 * The demo application is composed of two sections :
 * ## Application Init
 * Initializes the driver performs the click default configuration, 
 * and checks communication by reading device ID.
 * ## Application Task
 * Reading the accelerometer and gyroscope measurements, results are displayed on the USB UART every second.
 * @author Stefan Ilic

#include "board.h"
#include "log.h"
#include "c6dofimu16.h"

static c6dofimu16_t c6dofimu16;
static log_t logger;

void application_init ( void )
    log_cfg_t log_cfg;  /**< Logger config object. */
    c6dofimu16_cfg_t c6dofimu16_cfg;  /**< Click config object. */

     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    c6dofimu16_cfg_setup( &c6dofimu16_cfg );
    C6DOFIMU16_MAP_MIKROBUS( c6dofimu16_cfg, MIKROBUS_1 );
    err_t init_flag = c6dofimu16_init( &c6dofimu16, &c6dofimu16_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
        log_error( &logger, " Communication init." );
        for ( ; ; );
    if ( C6DOFIMU16_ERROR == c6dofimu16_default_cfg ( &c6dofimu16 ) )
        log_error( &logger, " Default configuration." );
        for ( ; ; );

    uint8_t dev_id = 0;
    c6dofimu16_reg_read( &c6dofimu16, C6DOFIMU16_REG_WHO_AM_I, &dev_id );
    if ( C6DOFIMU16_DEVICE_ID != dev_id )
        log_error( &logger, " Communication error " );
        for ( ; ; );
    log_printf( &logger, " Device ID: 0x%.2X \r\n", ( uint16_t ) dev_id );

    log_info( &logger, " Application Task " );

void application_task ( void )
    c6dofimu16_axis_t accel_data;
    c6dofimu16_axis_t gyro_data;

    c6dofimu16_get_accel_data( &c6dofimu16, &accel_data );
    c6dofimu16_get_gyro_data( &c6dofimu16, &gyro_data );
    log_printf( &logger, " Accel data | Gyro data \r\n" );
    log_printf( &logger, " X: %.2f g  | %.2f dps \r\n", accel_data.x_data, gyro_data.x_data );
    log_printf( &logger, " Y: %.2f g  | %.2f dps \r\n", accel_data.y_data, gyro_data.y_data );
    log_printf( &logger, " Z: %.2f g  | %.2f dps \r\n", accel_data.z_data, gyro_data.z_data );
    Delay_ms( 1000 );

int main ( void ) 
    application_init( );
    for ( ; ; ) 
        application_task( );

    return 0;

// ------------------------------------------------------------------------ END

Additional Support